EP1880170A1 - Two-pole magnet wheel increment position sensing in an actuator - Google Patents

Two-pole magnet wheel increment position sensing in an actuator

Info

Publication number
EP1880170A1
EP1880170A1 EP06721657A EP06721657A EP1880170A1 EP 1880170 A1 EP1880170 A1 EP 1880170A1 EP 06721657 A EP06721657 A EP 06721657A EP 06721657 A EP06721657 A EP 06721657A EP 1880170 A1 EP1880170 A1 EP 1880170A1
Authority
EP
European Patent Office
Prior art keywords
hall effect
effect sensor
output shaft
rotation
magnet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06721657A
Other languages
German (de)
French (fr)
Other versions
EP1880170A4 (en
Inventor
Jeremy Schmidt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Tire Canada Inc
Original Assignee
Siemens VDO Automotive Inc
Siemens VDO Automotive Canada Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens VDO Automotive Inc, Siemens VDO Automotive Canada Inc filed Critical Siemens VDO Automotive Inc
Publication of EP1880170A1 publication Critical patent/EP1880170A1/en
Publication of EP1880170A4 publication Critical patent/EP1880170A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01C—ROTARY-PISTON OR OSCILLATING-PISTON MACHINES OR ENGINES
    • F01C20/00—Control of, monitoring of, or safety arrangements for, machines or engines
    • F01C20/28—Safety arrangements; Monitoring
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means

Definitions

  • This invention relates an improved system for measuring output shaft rotation for an engine actuator. More particularly, this invention relates to an incremental position sensor to measure rotation of an output shaft of an engine actuator.
  • Intake manifolds control airflow into a vehicle engine to modify engine performance.
  • Engine actuators are used to control valves within the intake manifold.
  • the valves modify air flow characteristics to enhance engine performance in terms of either fuel economy or torque output.
  • a sensor measures the rotational position of an engine actuator output shaft to determine the position and speed of the valves. The position information is sent to an engine controller which uses the information to adjust the valves.
  • increment position sensors are utilized for determining engine actuator speed and position.
  • Conventional increment position sensors include a multi-pole magnet and at least two Hall effect sensors. Each of the Hall effect sensors is arranged perpendicular to the axis of rotation of the output shaft in order to be perpendicular to the magnetic field created by the multi-pole magnet. In order to obtain accurate readings at least two Hall effect sensors that are spaced exactly 90° apart from one another are required.
  • An example engine actuator uses an incremental position sensor to measure rotation of an output shaft of a vehicle engine actuator.
  • the example position sensor assembly of the present invention is connected to an engine actuator output shaft through a gear train.
  • a two-pole magnet is mounted to the electric motor output shaft within the engine actuator and a first Hall effect sensor is located proximate to the magnet.
  • the first Hall effect sensor is parallel to the output shaft. As the output shaft rotates the first Hall effect sensor senses the rotation of the magnet and correlates that to the rotational position of the output shaft to determine the engine actuator position.
  • a second Hall effect sensor is located adjacent to the first Hall effect sensor and is also parallel to the output shaft.
  • the second Hall effect sensor is used in combination with the first Hall effect sensor to measure the direction of rotation of the output shaft.
  • Figure 1 is a schematic illustration of an example vehicle engine and intake manifold assembly using the sensor assembly of the present invention.
  • Figure 2 is a schematic side view of an example sensor assembly of the present invention.
  • Figure 3 is a schematic end view of an example sensor assembly of the present invention.
  • Figure 1 illustrates a vehicle 10 having an engine 12 and an intake manifold system 16 connected to a fuel injection system 18.
  • the intake manifold system 16 includes an engine actuator 20.
  • An engine controller 22 within the fuel injection system 18 is connected to the engine actuator 20 to control the air delivery to the engine 12.
  • the engine controller 22 directs the engine actuator 20 to operate valves 23 within the intake manifold 16 to modify the combustion in engine 12.
  • the intake engine controller 22 needs to know information, such as the manifold air pressure and engine actuator 20 position.
  • information such as the manifold air pressure and engine actuator 20 position.
  • the engine actuator 20 adjusts valves inside the intake manifold 16 to optimize air delivery characteristics at different engine speeds by modifying air delivery parameters such as intake manifold tuning length or intake air tumble with.
  • a sensor assembly 26 provides the engine actuator 20 with feedback regarding the position and speed of the valves 23 within the intake manifold 16.
  • the sensor assembly 26 is described as measuring the position of an engine actuator 20 the sensor assembly 26 may be used in other applications where determining the position of a device is required.
  • FIG. 2 illustrates the sensor assembly 26 of the present invention.
  • the sensor assembly 26 is connected to the engine actuator 20 by an electric motor 27.
  • the electric motor adjusts the location of the valves 23 within the intake manifold 16 through a gear train (not shown) and has an output shaft 28.
  • a magnet 30 is mounted to the output shaft 28 and both the magnet 30 and output shaft 28 rotate about the same axis 14.
  • the magnet 30 is mounted to a worm gear 32 that is mounted to the output shaft 28. Mounting the magnet 30 on the worm gear 32 provides an increased gear ratio over the output shaft 28 for better resolution by the sensor assembly 26. That is, as the output shaft 28 rotates the magnet 30 completes multiple rotations.
  • the output shaft 28 rotates once for every one-hundred rotations of the worm gear 32, and thereby the magnet 30.
  • the sensor assembly 26 is an increment sensor in that the number of magnet 30 rotations are counted by the sensor assembly 26 to determine the exact rotational position and speed of the output shaft 28.
  • the example magnet 30 is a two-pole magnet.
  • a first Hall effect sensor 34 is spaced from the magnet 30 along an axis 25. By using a two-pole magnet the axis 25 of the first Hall effect sensor 34 can be parallel to the output shaft 28 and still be perpendicular to the magnetic field B created by the magnet 30, as required for desired operation of the first Hall effect sensor 34. As the output shaft 28 rotates, the first Hall effect sensor 34 senses the rotation of the magnet 30.
  • Each half rotation of magnet 30 is counted and this information is collected by a microcontroller 24 in the engine actuator 20.
  • the microcontroller 24 interprets the position information to control location of the valves 23. Position information is also sent to the engine controller 22.
  • the engine controller 22 interprets the position information and controls fuel ignition 18.
  • the first Hall effect sensor 34 is arranged parallel to the output shaft 28 less packaging room is required. Additionally, by using the two-pole magnet 30, an incremental sensor is provided saving both cost and space for the sensor assembly 26. With the parallel arrangement of the first Hall effect sensor 34 and the output shaft 28 only one Hall effect sensor 34 is required to obtain a clear reading of the rotation of the magnet 30.
  • Figure 3 illustrates an end view of the example embodiment, utilizing a second Hall effect sensor 36.
  • the second Hall effect sensor 36 is located adjacent to the first Hall effect sensor 34 along the axis 25 and is also parallel to the rotational axis 14 of the output shaft 28. Like the first Hall effect sensor 34 the parallel arrangement saves space and cost for the sensor assembly 26.
  • the second Hall effect sensor 36 is used to measure the orientation of the output shaft 28. That is, the second Hall effect sensor 36 measures the direction of rotation of the output shaft 28. As the magnet 30 rotates the direction of the magnetic field changes. When the magnet 30 is rotating in the clockwise direction as shown in Figure 3, the first Hall effect sensor 34 will indicate the change in the magnetic field prior to the second Hall effect sensor 36.
  • the second Hall effect sensor 36 will indicate the change in magnetic field prior to the first Hall effect sensor 34.
  • the indication of magnetic field is sent from the first Hall effect sensor 34 and the second Hall effect sensor 36 to the microcontroller 24 in the engine actuator 20 which uses the information to determine the direction of rotation of the magnet 30.
  • the second Hall effect sensor 36 is utilized to error proof the system ensuring that all connections are proper. An indication that there is an improper connection within the sensor assembly 26 is provided if the rotational direction of the output shaft 28 is opposite that expected.
  • the example second Hall effect sensor 36 may also be used to count the increments of rotation of the magnet 30 to determine the engine speed in a manner similar to the first Hall effect sensor 34. This information can be used to verify the results of the first Hall effect sensor 34.
  • a lag 38 is provided to space apart the first Hall effect sensor 34 from the second Hall effect sensor 36.
  • the lag 30 is an angular rotation of the shaft 28.
  • the second Hall effect sensor 36 has approximately a 60-degree phase lag 38 on the first Hall effect sensor 34 to ensure that the first Hall effect sensor 34 and the second Hall effect sensor 36 do not interfere with one another. That is, the first Hall effect sensor 34 and the second Hall effect sensor 36 are spaced apart from one another such that the magnet 30 rotates 60-degrees between each of the first and second Hall effect sensors 34 and 36.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

An increment sensor assembly includes a two-pole magnet mounted to an output shaft and a Hall effect sensor located parallel to the output shaft. As the output shaft rotates the first Hall effect sensor senses the rotational position of the magnet and correlates that to the rotational position of the output. A second Hall effect sensor is located adjacent to the first Hall effect sensor and is used to determine the direction of rotation of the output shaft.

Description

TWO-POLE MAGNET WHEEL INCREMENT POSITION SENSING IN AN ACTUATOR
REFERENCE TO RELATED APPLICATIONS
[0001] The present invention claims the benefit of U.S. Provisional Patent Application No. 60/661,628, filed March 14, 2005.
BACKGROUND OF THE INVENTION
[0002] This invention relates an improved system for measuring output shaft rotation for an engine actuator. More particularly, this invention relates to an incremental position sensor to measure rotation of an output shaft of an engine actuator.
[0003] Intake manifolds control airflow into a vehicle engine to modify engine performance. Engine actuators are used to control valves within the intake manifold. The valves modify air flow characteristics to enhance engine performance in terms of either fuel economy or torque output. A sensor measures the rotational position of an engine actuator output shaft to determine the position and speed of the valves. The position information is sent to an engine controller which uses the information to adjust the valves.
[0004] Currently, absolute and increment position sensors are utilized for determining engine actuator speed and position. Conventional increment position sensors include a multi-pole magnet and at least two Hall effect sensors. Each of the Hall effect sensors is arranged perpendicular to the axis of rotation of the output shaft in order to be perpendicular to the magnetic field created by the multi-pole magnet. In order to obtain accurate readings at least two Hall effect sensors that are spaced exactly 90° apart from one another are required.
[0005] However, this arrangement can provide packaging complications in confined engine spaces. It is therefore desirable to develop and design an improved arrangement for measuring engine actuator speed and position. SUMMARY OF THE INVENTION
[0006] An example engine actuator according to this invention uses an incremental position sensor to measure rotation of an output shaft of a vehicle engine actuator.
[0007] The example position sensor assembly of the present invention is connected to an engine actuator output shaft through a gear train. A two-pole magnet is mounted to the electric motor output shaft within the engine actuator and a first Hall effect sensor is located proximate to the magnet. The first Hall effect sensor is parallel to the output shaft. As the output shaft rotates the first Hall effect sensor senses the rotation of the magnet and correlates that to the rotational position of the output shaft to determine the engine actuator position.
[0008] A second Hall effect sensor is located adjacent to the first Hall effect sensor and is also parallel to the output shaft. The second Hall effect sensor is used in combination with the first Hall effect sensor to measure the direction of rotation of the output shaft.
[0009] Because the Hall effect sensors are arranged parallel to the output shaft less packaging room is required and only a two-pole magnet need be used saving both cost and space for the sensor assembly.
[0010] These and other features of the present invention can be best understood from the following specification and drawings, the following of which is a brief description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 is a schematic illustration of an example vehicle engine and intake manifold assembly using the sensor assembly of the present invention.
[0012] Figure 2 is a schematic side view of an example sensor assembly of the present invention.
[0013] Figure 3 is a schematic end view of an example sensor assembly of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0014] Figure 1 illustrates a vehicle 10 having an engine 12 and an intake manifold system 16 connected to a fuel injection system 18. The intake manifold system 16 includes an engine actuator 20. An engine controller 22 within the fuel injection system 18 is connected to the engine actuator 20 to control the air delivery to the engine 12.
[0015] The engine controller 22 directs the engine actuator 20 to operate valves 23 within the intake manifold 16 to modify the combustion in engine 12. In order to provide the engine 12 with a proper timing for fuel ignition the intake engine controller 22 needs to know information, such as the manifold air pressure and engine actuator 20 position. As the engine 12 speed and temperatures increases airflow through the intake manifold 16 must be increased. When the speed and temperature of the engine 12 decrease airflow through the intake manifold 16 must be decreased. The engine actuator 20 adjusts valves inside the intake manifold 16 to optimize air delivery characteristics at different engine speeds by modifying air delivery parameters such as intake manifold tuning length or intake air tumble with. A sensor assembly 26 provides the engine actuator 20 with feedback regarding the position and speed of the valves 23 within the intake manifold 16.
[0016] Although the sensor assembly 26 is described as measuring the position of an engine actuator 20 the sensor assembly 26 may be used in other applications where determining the position of a device is required.
[0017] Figure 2 illustrates the sensor assembly 26 of the present invention. The sensor assembly 26 is connected to the engine actuator 20 by an electric motor 27. The electric motor adjusts the location of the valves 23 within the intake manifold 16 through a gear train (not shown) and has an output shaft 28. A magnet 30 is mounted to the output shaft 28 and both the magnet 30 and output shaft 28 rotate about the same axis 14. In the example shown the magnet 30 is mounted to a worm gear 32 that is mounted to the output shaft 28. Mounting the magnet 30 on the worm gear 32 provides an increased gear ratio over the output shaft 28 for better resolution by the sensor assembly 26. That is, as the output shaft 28 rotates the magnet 30 completes multiple rotations. In the example, the output shaft 28 rotates once for every one-hundred rotations of the worm gear 32, and thereby the magnet 30. The sensor assembly 26 is an increment sensor in that the number of magnet 30 rotations are counted by the sensor assembly 26 to determine the exact rotational position and speed of the output shaft 28. The example magnet 30 is a two-pole magnet. [0018] A first Hall effect sensor 34 is spaced from the magnet 30 along an axis 25. By using a two-pole magnet the axis 25 of the first Hall effect sensor 34 can be parallel to the output shaft 28 and still be perpendicular to the magnetic field B created by the magnet 30, as required for desired operation of the first Hall effect sensor 34. As the output shaft 28 rotates, the first Hall effect sensor 34 senses the rotation of the magnet 30. Each half rotation of magnet 30 is counted and this information is collected by a microcontroller 24 in the engine actuator 20. The microcontroller 24 interprets the position information to control location of the valves 23. Position information is also sent to the engine controller 22. The engine controller 22 interprets the position information and controls fuel ignition 18.
[0019] Because the first Hall effect sensor 34 is arranged parallel to the output shaft 28 less packaging room is required. Additionally, by using the two-pole magnet 30, an incremental sensor is provided saving both cost and space for the sensor assembly 26. With the parallel arrangement of the first Hall effect sensor 34 and the output shaft 28 only one Hall effect sensor 34 is required to obtain a clear reading of the rotation of the magnet 30.
[0020] Figure 3 illustrates an end view of the example embodiment, utilizing a second Hall effect sensor 36. The second Hall effect sensor 36 is located adjacent to the first Hall effect sensor 34 along the axis 25 and is also parallel to the rotational axis 14 of the output shaft 28. Like the first Hall effect sensor 34 the parallel arrangement saves space and cost for the sensor assembly 26. The second Hall effect sensor 36 is used to measure the orientation of the output shaft 28. That is, the second Hall effect sensor 36 measures the direction of rotation of the output shaft 28. As the magnet 30 rotates the direction of the magnetic field changes. When the magnet 30 is rotating in the clockwise direction as shown in Figure 3, the first Hall effect sensor 34 will indicate the change in the magnetic field prior to the second Hall effect sensor 36. If the direction of rotation of the magnet 30 changes then the second Hall effect sensor 36 will indicate the change in magnetic field prior to the first Hall effect sensor 34. The indication of magnetic field is sent from the first Hall effect sensor 34 and the second Hall effect sensor 36 to the microcontroller 24 in the engine actuator 20 which uses the information to determine the direction of rotation of the magnet 30. [0021] The second Hall effect sensor 36 is utilized to error proof the system ensuring that all connections are proper. An indication that there is an improper connection within the sensor assembly 26 is provided if the rotational direction of the output shaft 28 is opposite that expected. The example second Hall effect sensor 36 may also be used to count the increments of rotation of the magnet 30 to determine the engine speed in a manner similar to the first Hall effect sensor 34. This information can be used to verify the results of the first Hall effect sensor 34.
[0022] A lag 38 is provided to space apart the first Hall effect sensor 34 from the second Hall effect sensor 36. The lag 30 is an angular rotation of the shaft 28. The second Hall effect sensor 36 has approximately a 60-degree phase lag 38 on the first Hall effect sensor 34 to ensure that the first Hall effect sensor 34 and the second Hall effect sensor 36 do not interfere with one another. That is, the first Hall effect sensor 34 and the second Hall effect sensor 36 are spaced apart from one another such that the magnet 30 rotates 60-degrees between each of the first and second Hall effect sensors 34 and 36.
[0023] Although a preferred embodiment of this invention has been disclosed, a worker of ordinary skill in this art would recognize that certain modifications would come within the scope of this invention. For that reason, the following claims should be studied to determine the true scope and content of this invention.

Claims

CLAIMSWhat is claimed is:
1. A position sensor assembly comprising: a magnet mounted to an output shaft rotatable about an axis of rotation; and at least one Hall effect sensor mounted proximate to the magnet wherein the axis of the at least one Hall effect sensor is parallel to the axis of rotation of the output shaft.
2. The assembly of claim 1, wherein the at least one Hall effect sensor measures the incremental position of the output shaft.
3. The assembly of claim 1, wherein that at least one Hall effect sensor comprises a first Hall effect sensor and a second Hall effect sensor both mounted parallel to the axis of rotation.
4. The assembly of claim 3, wherein the second Hall effect sensor is parallel to the first Hall effect sensor.
5. The assembly of claim 3, wherein the first Hall effect sensor and the second Hall effect sensor generate a signal indicative of a direction of rotation of the output shaft.
6. The assembly of claim 3, wherein the second Hall effect sensor is spaced apart from the first Hall effect sensor a distance equal to an angular rotation of the magnet.
7. The assembly of claim 6, wherein the angular rotation is approximately 60 degrees.
8. The assembly of claim 1, wherein magnet comprises a two-pole magnet.
9. An engine actuator sensor assembly comprising: a magnet mounted to an output shaft rotatable about an axis of rotation; a first Hall effect sensor located proximate to the magnet; and a second Hall effect sensor located in the same plane as and spaced apart from the first Hall effect sensor, wherein the first and second Hall effect sensors are parallel to the axis of rotation the output shaft.
10. The assembly of claim 9, wherein the first Hall effect sensor measures the incremental position of the output shaft.
11. The assembly of claim 9, wherein the first Hall effect sensor and the second Hall effect sensor generates a signal indicative of a direction of rotation of the output shaft.
12. The assembly of claim 9, wherein the second Hall effect sensor is spaced apart from the first Hall effect sensor to generate a 60 degree phase lag between the first Hall effect sensor and the second Hall effect sensor.
13. The assembly of claim 9, wherein magnet comprises a two-pole magnet.
14. A method of measuring output shaft rotation for an engine actuator comprising: a) mounting a magnet for rotation about an axis of rotation with an output shaft; b) locating a first Hall effect sensor parallel to the axis of rotation of the output shaft; and c) measuring the incremental position of the output shaft with the first Hall effect sensor.
15. The method of claim 14, further comprising: d) locating a second Hall effect sensor adjacent to the first Hall effect sensor such that on axis of the first and the second Hall effect sensors are parallel.
16. The method of claim 15, wherein said step d) further includes generating a signal indicative of a direction of rotation of the output shaft with the first and second Hall effect sensor.
17. The method of claim 15, wherein said step d) further includes providing approximately a 60 degree phase lag between the second Hall effect sensor and the first one Hall effect sensor.
18. The method of claim 14, wherein said step a) includes providing a two- pole magnet.
EP06721657.2A 2005-03-14 2006-03-14 Two-pole magnet wheel increment position sensing in an actuator Withdrawn EP1880170A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US66162805P 2005-03-14 2005-03-14
US11/373,946 US7477052B2 (en) 2005-03-14 2006-03-13 Two-pole magnet wheel increment position sensing in an actuator
PCT/CA2006/000378 WO2006096971A1 (en) 2005-03-14 2006-03-14 Two-pole magnet wheel increment position sensing in an actuator

Publications (2)

Publication Number Publication Date
EP1880170A1 true EP1880170A1 (en) 2008-01-23
EP1880170A4 EP1880170A4 (en) 2013-09-25

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Family Applications (1)

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EP06721657.2A Withdrawn EP1880170A4 (en) 2005-03-14 2006-03-14 Two-pole magnet wheel increment position sensing in an actuator

Country Status (5)

Country Link
US (1) US7477052B2 (en)
EP (1) EP1880170A4 (en)
JP (1) JP2009510388A (en)
KR (1) KR20080034827A (en)
WO (1) WO2006096971A1 (en)

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US20060202677A1 (en) 2006-09-14
KR20080034827A (en) 2008-04-22
JP2009510388A (en) 2009-03-12
US7477052B2 (en) 2009-01-13
WO2006096971A1 (en) 2006-09-21
EP1880170A4 (en) 2013-09-25

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